#include <ros.h>
#include <ros/time.h>
#include <tf/transform_broadcaster.h>

ros::NodeHandle nh;

geometry_msgs::TransformStamped t;
tf::TransformBroadcaster broadcaster;

char base_link[]="/base_link";
char odom[]="/odom";


void setup()
{
  nh.initNode();
  broadcaster.init(nh);

}

void loop() 
{
   t.header.frame_id = odom;
   t.child_frame_id = base_link;
   t.transform.translation.x=1.0;
   t.transform.rotation.x=0.0;
   t.transform.rotation.y=0.0;
   t.transform.rotation.z=0.0;
   t.transform.rotation.w=1.0;
   t.header.stamp=nh.now();
   broadcaster.sendTransform(t);
   nh.spinOnce();
   delay(10);
    
   


}
